相关论文: Angular Divergent Component of Motion: A step towa…

This paper proposes a systematic and novel component level co-rotational (CR) framework, for upgrading existing 3D continuum finite elements to flexible multibody analysis. Without using any model reduction techniques, the high efficiency…

System identification involving the geometry, appearance, and physical properties from video observations is a challenging task with applications in robotics and graphics. Recent approaches have relied on fully differentiable Material Point…

Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…

Dynamic mode decomposition (DMD) is a widely used data-driven algorithm for predicting the future states of dynamical systems. However, its standard formulation often struggles with poor long-term predictive accuracy. To address this…

Laparoscopic surgery constrains instrument motion around a fixed pivot point at the incision into a patient to minimize tissue trauma. Surgical robots achieve this through either hardware to software-based remote center of motion (RCM)…

In this paper, 3D humanoid walking is decoupled into periodic and transitional motion, each of which is decoupled into planar walking in the sagittal and lateral plane. Reduced order models (ROMs), i.e. actuated Spring-loaded Inverted…

Numerous applications require algorithms that can align partially overlapping point sets while maintaining invariance to geometric transformations (e.g., similarity, affine, rigid). This paper introduces a novel global optimization method…

Remote sensing change detection is used in urban planning, terrain analysis, and environmental monitoring by analyzing feature changes in the same area over time. In this paper, we propose a large language model (LLM) augmented inference…

Quantifying the safety of the human body orientation is an important issue in human-robot interaction. Knowing the changing physical constraints on human motion can improve inspection of safe human motions and bring essential information…

We propose an end-to-end trainable, cross-category method for reconstructing multiple man-made articulated objects from a single RGBD image, focusing on part-level shape reconstruction and pose and kinematics estimation. We depart from…

A critical goal in robotics and autonomy is to teach robots to adapt to real-world collaborative tasks, particularly in automatic assembly. The ability of a robot to understand the original intent of an incomplete assembly and complete…

In this work, a novel, end-to-end motion planning method is proposed for quadrotor navigation in cluttered environments. The proposed method circumvents the explicit sensing-reconstructing-planning in contrast to conventional navigation…

Currently, widely used first-order deep learning optimizers include non-adaptive learning rate optimizers and adaptive learning rate optimizers. The former is represented by SGDM (Stochastic Gradient Descent with Momentum), while the latter…

In this paper, the Discontinuous Cell Method (DCM) is formulated with the objective of simulating cohesive fracture propagation and fragmentation in homogeneous solids without issues relevant to excessive mesh deformation typical of…

This paper proposes an approach for segmenting a task consisting of compliant motions into phases, learning a primitive for each segmented phase of the task, and reproducing the task by sequencing primitives online based on the learned…

Diffusion models have recently been successfully applied to a wide range of robotics applications for learning complex multi-modal behaviors from data. However, prior works have mostly been confined to single-robot and small-scale…

This paper presents a learning-based approach for accurately estimating the 3D shape of flexible continuum robots subjected to external loads. The proposed method introduces a spatiotemporal neural network architecture that fuses…

Available possibilities to prevent a biped robot from falling down in the presence of severe disturbances are mainly Center of Pressure (CoP) modulation, step location and timing adjustment, and angular momentum regulation. In this paper,…

This paper addresses the task of modeling Deformable Linear Objects (DLOs), such as ropes and cables, during dynamic motion over long time horizons. This task presents significant challenges due to the complex dynamics of DLOs. To address…

Conditional medical image generation plays an important role in many clinically relevant imaging tasks. However, existing methods still face a fundamental challenge in balancing inference efficiency, patient-specific fidelity, and…